Robust and Adaptive Stabilization Controllers of State-Constrained Nonholonomic Chained Systems: A Discontinuous Approach

Zhongcai Zhang (), Xueli Hu, Yang Gao and Xiaodan Hou
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Zhongcai Zhang: School of Artificial Intelligence, Nankai University, Tianjin 300350, China
Xueli Hu: School of Engineering, Qufu Normal University, Rizhao 276826, China
Yang Gao: School of Engineering, Qufu Normal University, Rizhao 276826, China
Xiaodan Hou: Center of Brain Science Research, Qufu Normal University, Rizhao 276826, China

Mathematics, 2023, vol. 12, issue 1, 1-19

Abstract: In this paper, two systematic control design strategies are proposed for strict-feedback nonholonomic systems with full-state constraints to solve stabilization and adaptive stabilization problems. The stabilization schemes involve the introduction of state scaling, the barrier Lyapunov function (BLF), the integrator backstepping method, and the tuning function approach. In addition, a discontinuous switching control strategy is proposed to achieve the control goal if the first system state’s initial state is confined to zero. In both stabilization and adaptive stabilization control, the system states can be regulated at the origin, and meanwhile, the full-state constraints are realized. Finally, it is shown that the simulation results are consistent with the theory analysis results, which further demonstrates the effectiveness of the proposed control schemes.

Keywords: nonholonomic control systems; stabilization; adaptive stabilization; full-state constraints; barrier Lyapunov function (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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